Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC5130A-TA DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 2A coil current (2.5A peak)

Motion Controller with sixPoint™

ramp

Step/Dir Interface with microstep interpolation microPlyer™

Voltage Range 4.75… 46V DC

SPI & Single Wire UART

Encoder Interface and 2x Ref.-Switch Input

Highest Resolution 256 microsteps per full step

stealthChop™ for extremely quiet operation and smooth motion

spreadCycle™ highly dynamic motor control chopper

dcStep™ load dependent speed control

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Integrated Current Sense Option

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Compact Size 9x9mm

TQFP48 package

APPLICATIONS

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

CCTV, Security

ATM, Cash recycler

POS

Pumps and Valves

Heliostat Controller

DESCRIPTION

The TMC5130A is a high performance

stepper motor controller and driver IC

with serial communication interfaces. It

combines a flexible ramp generator for

automatic target positioning with

industries’ most advanced stepper motor

driver. Based on TRINAMICs sophisticated

stealthChop chopper, the driver ensures

absolutely noiseless operation combined

with maximum efficiency and best motor

torque. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions. The complete

solution reduces learning curve to a

minimum while giving best performance

in class.

Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet

movement. Integrated MOSFETs for up to 2 A motor current per coil. With Step/Dir Interface and SPI.

BLOCK DIAGRAM

spreadCycle

stealthChop

MOTION CONTROLLER

with Linear 6 Point

RAMP Generator

DRIVER

TMC5130

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

Ref. Switches

UART

stallGuard2 coolStep dcStep

Power

Supply

Charge

Pump

ABN

Motor

Encoder Unit

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

DAC Reference

IREF

optional current scaling

Reference Switch

Processing

Interrupts

Position

Pulse Output

UART

Single Wire

SPI to

Master

SPI

CLK

Oscillator / Selector

Summary of content (128 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC5130A-TA DATASHEET Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet movement. Integrated MOSFETs for up to 2 A motor current per coil. With Step/Dir Interface and SPI.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 2 APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC5130A scores with complete motion controlling features, integrated power stages, and power density. It offers a versatility that covers a wide spectrum of applications from battery powered systems up to embedded applications with 2A motor current per coil. The TMC5130A contains the complete intelligence which is required to drive a motor.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3 Table of Contents 1 PRINCIPLES OF OPERATION ......................... 5 1.1 KEY CONCEPTS ................................................ 7 1.2 CONTROL INTERFACES ..................................... 7 1.3 SOFTWARE ...................................................... 7 1.4 MOVING AND CONTROLLING THE MOTOR ........ 8 1.5 STEALTHCHOP DRIVER ..................................... 8 1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8 1.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 20 20.1 20.2 21 SINE-WAVE LOOK-UP TABLE ...................98 USER BENEFITS .............................................98 MICROSTEP TABLE ........................................98 EMERGENCY STOP.......................................99 22 ABN INCREMENTAL ENCODER INTERFACE .............................................................. 100 22.1 ENCODER TIMING ....................................... 101 22.2 SETTING THE ENCODER TO MATCH MOTOR RESOLUTION .......
PAGE 5
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 1 5 Principles of Operation The TMC5130A motion controller and driver chip is an intelligent power component interfacing between CPU and stepper motor. All stepper motor logic is completely within the TMC5130A. No software is required to control the motor – just provide target positions. The TMC5130A offers a number of unique enhancements which are enabled by the system-on-chip integration of driver and controller.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6 VCP CPI DIR F AIN_IREF IREF VCC PU=166K pullup resistor to VCC PD=166k pull down resistor to GND CSN PU SCK PU SDI/NAI PU SDO/NAO PU SW_SEL single wire UART Opt. interrupt out PD programmable sine table 4*256 entry Control register set rface te wire InSingle x Stepper driver Protection & diagnostics interface (-TA pckg only) Opt.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 7 1.1 Key Concepts The TMC5130A implements advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 8 1.4 Moving and Controlling the Motor 1.4.1 Integrated Motion Controller The integrated 32 bit motion controller automatically drives the motor to target positions, or accelerates to target velocities. All motion parameters can be changed on the fly. The motion controller recalculates immediately. A minimum set of configuration data consists of acceleration and deceleration values and the maximum motion velocity.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 9 1.7 coolStep – Load Adaptive Current Control coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement information to adjust the motor current to the minimum amount required in the actual load situation. This saves energy and keeps the components cool.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 2 10 Pin Assignments GNDP - OA1 - BRA - OA2 - VS VSA VCP CPI 48 47 46 45 44 43 42 41 40 39 38 37 2.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Pin Number Type REFL_STEP 8 DI REFR_DIR 9 DI VCC_IO 10 SD_MODE 11 DI (pu) SPI_MODE 12 DI (pu) GNDP OB1 13, 14, 20, 43, 15 BRB 17 OB2 19 VS 21, 40 ENCN_DCO 23 DIO ENCB_DCEN_ CFG4 24 DI (tpu) ENCA_DCIN_ CFG5 25 DI (tpu) SWN_DIAG0 26 DIO SWP_DIAG1 27 DIO SWSEL 28 DI (pd) DRV_ENN_ CFG6 29 DI (tpu) AIN_IREF 30 AI GNDA 32 DNC. www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Pin Number 5VOUT 33 VCC 34 CPO 35 CPI 37 VCP 38 VSA 39 OA2 42 BRA 44 OA1 46 Exposed die pad - Type Function Output of internal 5V regulator. Attach 2.2µF or larger ceramic capacitor to GNDA near to pin for best performance. Output to supply VCC of chip. 5V supply input for digital circuitry within chip and charge pump. Attach 470nF capacitor to GND (GND plane). May be supplied by 5VOUT. A 2.2 or 3.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3 13 Sample Circuits The sample circuits show the connection of external components in different operation and supply modes. The connection of the bus interface and further digital signals is left out for clarity. Optional use lower voltage down to 6V VCP 22n 63V CPI CPO AIN_IREF REFR/DIR REFL/STEP 3.1 Standard Application Circuit +VM +VM VS VSA 5VOUT 100n 100n 16V 4.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 14 Attention In case VSA is supplied by a different voltage source, make sure that VSA does not exceed VS by more than one diode drop upon power up or power down. 3.2 Reduced Number of Components Optional use lower voltage down to 6V +VM VSA 5VOUT 100n 5V Voltage regulator 4.7µ VCC Figure 3.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 15 3.4 External 5V Power Supply When an external 5V power supply is available, the power dissipation caused by the internal linear regulator can be eliminated. This especially is beneficial in high voltage applications, and when thermal conditions are critical.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3.4.2 16 Internal Regulator Bridged In case a clean external 5V supply is available, it can be used for complete supply of analog and digital part (Figure 3.5). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1% regulator. A precise supply guarantees increased motor current precision, because the voltage at 5VOUT directly is the reference voltage for all internal units of the driver, especially for motor current control.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 17 VCP 22n 63V CPI CPO AIN_IREF REFR/DIR REFL/STEP 3.6 5V Only Supply +5V 100n 16V +5V VS VSA 5VOUT 5V Voltage regulator reference switch processing 4.7µ charge pump DAC Reference 100n 100n 100µF IREF VCC OA1 TMC5130A 470n CSN SCK SDI/NAI SDO/NAO SWP/DIAG1 SWN/DIAG0 S N stepper motor Use low inductivity SMD type, e.g. 1206, 0.5W BRA Driver RSA DIAG / INT out and Single wire interface OB1 SW_SEL opt. ext. clock 12-16MHz +VIO 3.
PAGE 18
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 18 3.7 High Motor Current When operating at a high motor current, the driver power dissipation due to MOSFET switch onresistance significantly heats up the driver. This power dissipation will heat up the PCB cooling infrastructure also, if operated at an increased duty cycle. This in turn leads to a further increase of driver temperature. An increase of temperature by about 100°C increases MOSFET resistance by roughly 50%.
PAGE 19
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3.7.3 19 Reduction of Resistive Losses by Adding Schottky Diodes Schottky Diodes can be added to the circuit to reduce driver power dissipation when driving high motor currents (see Figure 3.9). The Schottky diodes have a conduction voltage of about 0.5V and will take over more than half of the motor current during the negative half wave of each output in slow decay and fast decay phases, thus leading to a cooler motor driver.
PAGE 20
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 20 3.8 Driver Protection and EME Circuitry Some applications have to cope with ESD events caused by motor operation or external influence. Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset or even a destruction of the motor driver, depending on their energy. Especially plastic housings and belt drive systems tend to cause ESD events of several kV.
PAGE 21
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 4 21 SPI Interface 4.1 SPI Datagram Structure The TMC5130A uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are typically able to communicate using integer multiples of 8 bit. The NCS line of the device must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
PAGE 22
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 22 Example: For a read access to the register (XACTUAL) with the address 0x21, the address byte has to be set to 0x21 in the access preceding the read access. For a write access to the register (VACTUAL), the address byte has to be set to 0x80 + 0x22 = 0xA2. For read access, the data bit might have any value (-). So, one can set them to 0.
PAGE 23
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 23 4.3 Timing The SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.
PAGE 24
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 5 24 UART Single Wire Interface The UART single wire interface allows the control of the TMC5130A-TA with any microcontroller UART. It shares transmit and receive line like an RS485 based interface. Data transmission is secured using a cyclic redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can be bridged without the danger of wrong or missed commands even in the event of electro-magnetic disturbance.
PAGE 25
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 5.1.2 25 Read Access UART READ ACCESS REQUEST DATAGRAM STRUCTURE each byte is LSB…MSB, highest byte transmitted first sync + reserved 8 bit slave address RW + 7 bit register address CRC 0...
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 26 5.2 CRC Calculation An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB, including the sync- and addressing byte. The sync nibble is assumed to always be correct. The TMC5130A responds only to correctly transmitted datagrams containing its own slave address.
PAGE 27
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 27 5.4 Addressing Multiple Slaves ADDRESSING ONE OR TWO SLAVES If only one or two TMC5130A are addressed by a master using a single UART interface, a hardware address selection can be done by setting the NAI pins of both devices to different levels. ADDRESSING UP TO 255 SLAVES A different approach can address any number of devices by using the input NAI as a selection pin. Addressing up to 255 units is possible.
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TMC5130A DATASHEET (Rev. 1.
PAGE 29
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6 29 Register Mapping This chapter gives an overview of the complete register set. Some of the registers bundling a number of single bits are detailed in extra tables. The functional practical application of the settings is detailed in dedicated chapters. Note - All registers become reset to 0 upon power up, unless otherwise noted.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 30 6.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 17 Register GCONF Description / bit names Bit GCONF – Global configuration flags 0 I_scale_analog 0: Normal operation, use internal reference voltage 1: Use voltage supplied to AIN as current reference 1 internal_Rsense 0: Normal operation 1: Internal sense resistors.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 31 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+C 0x01 3 GSTAT R 0x02 8 IFCNT www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 32 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register W 0x03 8 + 4 SLAVECONF R 0x04 8 + 8 IOIN Description / bit names Bit SLAVECONF 7..0 SLAVEADDR: These eight bits set the address of unit for the UART interface. The address becomes incremented by one when the external address pin NEXTADDR is active. Range: 0-253 (254 cannot be incremented), default=0 11..
PAGE 33
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 33 6.2 Velocity Dependent Driver Feature Control Register Set VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr n 0x10 5 + 5 + 4 Register Description / bit names Bit IHOLD_IRUN – Driver current control 4..0 IHOLD Standstill current (0=1/32…31=32/32) In combination with stealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit for motor stand still. 12..
PAGE 34
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 34 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr 0x14 n 20 Register TCOOLTHRS Description / bit names This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature. (unsigned) Set this parameter to disable coolStep at low speeds, where it cannot work reliably.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 35 6.3 Ramp Generator Registers 6.3.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 36 RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D) R/W Addr n Register W 0x2B 18 VSTOP W 0x2C 16 TZEROWAIT Description / bit names Motor stop velocity (unsigned) Attention: Set VSTOP ≥ VSTART! Attention: Do not set 0 in positioning mode, minimum 10 recommend! Defines the waiting time after ramping down to zero velocity before next movement or direction inversion can start. Time range is about 0 to 2 seconds.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.3.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 38 6.3.2.1 SW_MODE – Reference Switch & stallGuard2 Event Configuration Register 0X34: SW_MODE – REFERENCE SWITCH AND STALLGUARD2 EVENT CONFIGURATION REGISTER Bit 11 Name en_softstop Comment 0: Hard stop 1: Soft stop The soft stop mode always uses the deceleration ramp settings DMAX, V1, D1, VSTOP and TZEROWAIT for stopping the motor.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 39 6.3.2.2 RAMP_STAT – Ramp & Reference Switch Status Register 0X35: RAMP_STAT – RAMP AND REFERENCE SWITCH STATUS REGISTER R/W R Bit 13 Name status_sg R+C 12 second_move R 11 R R 10 9 R 8 R+C 7 t_zerowait_ active vzero position_ reached velocity_ reached event_pos_ reached R+C 6 event_stop_ sg R 5 event_stop_r 4 event_stop_l 3 status_latch_r 2 status_latch_l 1 0 status_stop_r status_stop_l R+C R www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 40 6.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.4.1 41 ENCMODE – Encoder Register 0X38: ENCMODE – ENCODER REGISTER Bit 10 Name enc_sel_decimal 9 latch_x_act 8 clr_enc_x 7 6 neg_edge pos_edge 5 clr_once 4 clr_cont 3 ignore_AB 2 1 0 pol_N pol_B pol_A www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 42 6.5 Motor Driver Registers MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B) R/W Addr n Register MSLUT[0] W 0x60 32 microstep table entries 0…31 MSLUT[1...7] W W W R R 0x61 … 0x67 0x68 0x69 0x6A 0x6B 7 x 32 32 8 + 8 10 9 + 9 www.trinamic.
PAGE 43
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 43 DRIVER REGISTER SET (0X6C…0X7F) R/W Addr n Register RW 0x6C 32 CHOPCONF W 0x6D 25 COOLCONF W 0x6E 24 DCCTRL R 0x6F 32 DRV_ STATUS W 0x70 22 PWMCONF R 0x71 8 PWM_SCALE W R 0x72 0x73 2 20 www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT 𝑟𝑜𝑢𝑛𝑑 (248 ∗ 𝑠𝑖𝑛 (2 ∗ 𝑃𝐼 ∗ - 𝑖 𝑃𝐼 + )) − 1 1024 1024 i:[0… 255] is the table index The amplitude of the wave is 248. The resulting maximum positive value is 247 and the maximum negative value is -248. The round function rounds values from 0.5 to 1.4999 to 1 www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.5.1 45 MSLUTSEL – Look up Table Segmentation Definition 0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Name X3 X2 Function LUT segment 3 start LUT segment 2 start Comment The sine wave look up table can be divided into up to four segments using an individual step width control entry Wx. The segment borders are selected by X1, X2 and X3.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.5.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 47 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit 13 Name rndtf Function random TOFF time 12 disfdcc fast decay mode 11 fd3 TFD [3] 10 9 8 7 hend3 hend2 hend1 hend0 HEND hysteresis low value OFFSET sine wave offset 6 5 4 hstrt2 hstrt1 hstrt0 HSTRT hysteresis start value added to HEND TFD [2..0] fast decay time setting 3 2 1 0 toff3 toff2 toff1 toff0 www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.5.3 48 COOLCONF – Smart Energy Control coolStep and stallGuard2 0X6D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2 Bit … 24 Name sfilt Function reserved stallGuard2 filter enable 23 22 21 20 19 18 17 16 15 sgt6 sgt5 sgt4 sgt3 sgt2 sgt1 sgt0 seimin reserved stallGuard2 threshold value 14 13 sedn1 sedn0 12 11 10 9 8 7 6 5 4 3 2 1 0 semax3 semax2 semax1 semax0 seup1 seup0 semin3 semin2 semin1 semin0 www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.5.
PAGE 50
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 6.5.
PAGE 51
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 7 51 stealthChop™ stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
PAGE 52
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 52 7.2 Automatic Scaling In stealthChop voltage PWM mode, the autoscaling function (pwm_autoscale = 1) regulates the motor current to the desired current setting. The driver measures the motor current during the chopper on time and uses a proportional regulator to regulate the PWM_SCALE in order match the motor current to the target current. PWM_GRAD is the proportionality coefficient for this regulator.
PAGE 53
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Motor current PWM scale Velocity 53 PWM reaches max. amplitude 255 Stand still PWM scale Current may drop due to high velocity ok PW M_ GR AD ok Nominal current (sine wave RMS) AD GR M_ PW RMS current constant 0 0 Time Setting for PWM_GRAD ok.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 54 𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 𝑡𝐵𝐿𝐴𝑁𝐾 ∗ 𝑓𝑃𝑊𝑀 ∗ 𝑉𝑀 𝑅𝐶𝑂𝐼𝐿 With VM the motor supply voltage and RCOIL the motor coil resistance. ILower Limit can be treated as a thumb value for the minimum possible motor current setting. EXAMPLE: A motor has a coil resistance of 5Ω, the supply voltage is 24V.
PAGE 55
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 55 With rising motor velocity, the motor generates an increasing back EMF voltage. The back EMF voltage is proportional to the motor velocity. It reduces the PWM voltage effective at the coil resistance and thus current decreases. The TMC5130A provides a second velocity dependent factor (PWM_GRAD) to compensate for this.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 𝐶𝐵𝐸𝑀𝐹 [ 56 𝑉 𝐻𝑜𝑙𝑑𝑖𝑛𝑔𝑇𝑜𝑟𝑞𝑢𝑒[𝑁𝑚] ]= 𝑟𝑎𝑑/𝑠 2 ∗ 𝐼𝐶𝑂𝐼𝐿𝑁𝑂𝑀 [𝐴] ICOILNOM is the motor’s rated phase current for the specified holding torque HoldingTorque is the motor specific holding torque, i.e. the torque reached at ICOILNOM on both coils. The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm.
PAGE 57
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 57 Hint In case the automatic scaling regulation is instable at your desired motion velocity, try modifying the chopper frequency divider PWM_FREQ. Also adapt the blank time TBL and motor current for best result. 7.5 Flags in stealthChop As stealthChop uses voltage mode driving, status flags based on current measurement respond slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall.
PAGE 58
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 58 7.6 Freewheeling and Passive Braking stealthChop provides different options for motor standstill. These options can be enabled by setting the standstill current IHOLD to zero and choosing the desired option using the FREEWHEEL setting. The desired option becomes enabled after a time period specified by TPOWERDOWN and IHOLD_DELAY. The PWM_SCALE regulation becomes frozen once the motor target current is at zero current in order to ensure a quick startup.
PAGE 59
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 8 59 spreadCycle and Classic Chopper While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents through both motor coils are controlled using choppers. The choppers work independently of each other. In Figure 8.1 the different chopper phases are shown.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 60 Three parameters are used for controlling both chopper modes: Parameter TOFF Description Setting Sets the slow decay time (off time). This setting also 0 limits the maximum chopper frequency. 1…15 For operation with stealthChop, this parameter is not used, but it is required to enable the motor. In case of operation with stealthChop only, any setting is OK.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 61 It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0) and increasing HSTRT, until the motor runs smoothly at low velocity settings. This can best be checked when measuring the motor current either with a current probe or by probing the sense resistor voltages (see Figure 8.2).
PAGE 62
TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) I target current + hysteresis start 62 HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 8.3 spreadCycle chopper scheme showing coil current during a chopper cycle Two parameters control spreadCycle mode: Parameter HSTRT HEND Description Setting Hysteresis start setting. This value is an offset 0…7 from the hysteresis end value HEND.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 63 8.2 Classic Constant Off Time Chopper The classic constant off time chopper is an alternative to spreadCycle. Perfectly tuned, it also gives good results. In combination with RDSon current sensing without external sense resistors, this chopper mode can bring a benefit with regard to audible high-pitch chopper noise. Also, the classic constant off time chopper (automatically) is used in combination with fullstepping in dcStep operation.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 64 Parameter TFD (fd3 & HSTRT) Description Setting Fast decay time setting. With CHM=1, these bits 0 control the portion of fast decay for each chopper 1…15 cycle. Comment slow decay only duration of fast decay phase OFFSET (HEND) Sine wave offset. With CHM=1, these bits control 0…2 the sine wave offset. A positive offset corrects for 3 zero crossing error.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 65 8.4 chopSync2 for Quiet 2-Phase Motor chopSync2 is an alternative add-on concept for spreadCycle chopper and constant off time chopper to optimize motor noise at low velocities. When using stealthChop for low velocity operation, chopSync2 is not applicable. While a frequency adaptive chopper like spreadCycle provides excellent high velocity operation, in some applications, a constant frequency chopper is preferred rather than a frequency adaptive chopper.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 9 66 Analog Current Control AIN When a high flexibility of the output current scaling is desired, the analog input of the driver can be enabled for current control, rather than choosing a different set of sense resistors or scaling down the run current via IRUN parameter. This way, a simple voltage divider can be used for the adaptation of a board to different motors.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 67 10 Selecting Sense Resistors Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The following table shows the RMS current values which can be reached using standard resistors and motor types fitting without additional motor current scaling. CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT RSENSE [Ω] RMS current [A] (CS=31, vsense=0) 1.00 0.23 0.82 0.27 0.75 0.30 0.68 0.33 0.50 0.44 0.47 0.47 0.33 0.66 0.27 0.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 68 When I_scale_analog is enabled for analog scaling of VFS, the resulting voltage VFS‘ is calculated by: ′ 𝑉𝐹𝑆 = 𝑉𝐹𝑆 ∗ 𝑉𝐴𝐼𝑁 2.5𝑉 with VAIN the voltage on pin AIN_IREF in the range 0V to V5VOUT/2 The sense resistor needs to be able to conduct the peak motor coil current in motor standstill conditions, unless standby power is reduced.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 69 11 Internal Sense Resistors The TMC5130A provides the option to eliminate external sense resistors. In this mode the external sense resistors become omitted (shorted) and the internal on-resistance of the power MOSFETs is used for current measurement (see Figure 3.3). As MOSFETs are both, temperature dependent and subject to production stray, a tiny external resistor connected from +5VOUT to AIN/IREF is used to provide a precise absolute current reference.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 70 CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS RREF [Ω] 6k8 7k5 8k2 9k1 10k 12k 15k 18k 22k 27k 33k Peak current [A] (CS=31, vsense=0) 1.92 1.76 1.63 1.49 1.36 1.15 0.94 0.79 0.65 0.60 0.54 Peak current [A] (CS=31, vsense=1) 1.06 0.97 0.90 0.82 0.75 0.63 0.52 0.43 0.36 0.33 0.29 In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path (i.e. lowest possible PCB resistance).
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 71 12 Velocity Based Mode Control The TMC5130A allows the configuration of different chopper modes and modes of operation for optimum motor control. Depending on the motor load, the different modes can be optimized for lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the features like coolStep or stallGuard2 are useful in a limited velocity range.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Parameter stst 72 Description Setting This flag indicates motor stand still in each operation 0/1 Comment Status bit, read only mode. This occurs 2^20 clocks after the last step pulse. TPOWER DOWN TSTEP TPWMTHRS TCOOLTHRS THIGH small_ hysteresis vhighfs vhighchm en_pwm_ mode This is the delay time after stand still (stst) of the motor to motor current power down. Time range is about 0 to 4 seconds.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 73 13 Driver Diagnostic Flags The TMC5130A drivers supply a complete set of diagnostic and protection capabilities, like short to GND protection and undervoltage detection. A detection of an open load condition allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details. 13.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 74 14 Ramp Generator The ramp generator allows motion based on target position or target velocity. It automatically calculates the optimum motion profile taking into account acceleration and velocity settings. The TMC5130A integrates a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 75 14.2 Motion Profiles For the ramp generator register set, please refer to the chapter 6.3. 14.2.1 Ramp Mode The ramp generator delivers two phase acceleration and two phase deceleration ramps with additional programmable start and stop velocities (see Figure 14.1). Note The start velocity can be set to zero, if not used. The stop velocity can be set to ten (or down to one), if not used. Take care to always set VSTOP identical to or above VSTART.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 76 torque high deceleration 2xMFRICT MNOM2 Torque for VSTART MNOM1 high acceleration Torque available for acceleration A1 VMAX Torque required for static loads V1 0 reduced accel. Torque available for AMAX VSTART MFRICT reduced decel. motor torque MMAX velocity [RPM] MFRICT Portion of torque required for friction and static load within the system MMAX Motor pull-out torque at v=0 MNOM1/2 Torque available at V1 resp.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 77 14.2.5 Application Example: Joystick Control Applications like surveillance cameras can be optimally enhanced using the motion controller: while joystick commands operate the motor at a user defined velocity, the target ramp generator ensures that the valid motion range never is left. REALIZE JOYSTICK CONTROL 1. 2. 3. 4. Use positioning mode in order to control the motion direction and to set the motion limit(s).
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 78 14.4 Reference Switches Prior to normal operation of the drive an absolute reference position must be set. The reference position can be found using a mechanical stop which can be detected by stall detection, or by a reference switch. In case of a linear drive, the mechanical motion range must not be left. This can be ensured also for abnormal situations by enabling the stop switch functions for the left and the right reference switch.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 4. 5. 6. 79 As soon as the switch is hit, the position becomes latched and the motor is stopped. Wait until the motor is in standstill again by polling the actual velocity VACTUAL or checking vzero or the standstill flag. Please be aware that reading RAMP_STAT may clear flags (e.g. sg_stop) and thus the motor may restart after expiration of TZEROWAIT.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 80 15 stallGuard2 Load Measurement stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolStep loadadaptive current reduction. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in Figure 15.1. At maximum motor load, the value goes to zero or near to zero.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 81 15.1 Tuning stallGuard2 Threshold SGT The stallGuard2 value SG is affected by motor-specific characteristics and application-specific demands on load and velocity. Therefore the easiest way to tune the stallGuard2 threshold SGT for a specific motor type and operating conditions is interactive tuning in the actual application. INITIAL PROCEDURE FOR TUNING STALLGUARD SGT 1. 2. 3. 4.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 82 15.1.1 Variable Velocity Limits TCOOLTHRS and THIGH The SGT setting chosen as a result of the previously described SGT tuning can be used for a certain velocity range. Outside this range, a stall may not be detected safely, and coolStep might not give the optimum result.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 83 15.2 stallGuard2 Update Rate and Filter The stallGuard2 measurement value SG is updated with each full step of the motor. This is enough to safely detect a stall, because a stall always means the loss of four full steps. In a practical application, especially when using coolStep, a more precise measurement might be more important than an update for each fullstep because the mechanical load never changes instantaneously from one step to the next.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 84 16 coolStep Operation coolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 16.
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stallGuard2 reading mechanical load 85 motor current TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) current setting I_RUN (upper limit) motor current reduction area SEMAX+SEMIN+1 SEMIN ½ or ¼ I_RUN (lower limit) motor current increment area 0=maximum load load angle optimized Zeit slow current reduction due to reduced motor load load angle optimized current increment due to increased load stall possible load angle optimized Figure 16.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 86 16.3 Tuning coolStep Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the load measurement value SG. coolStep uses SG to operate the motor near the optimum load angle of +90°. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN. They can be tuned separately because they are triggered by different events that may need different responses.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 87 17 STEP/DIR Interface The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion controllers. The microPlyer STEP pulse interpolator brings the smooth motor operation of highresolution microstepping to applications originally designed for coarser stepping. In case an external step source is used, the complete integrated motion controller can be switched off for one or both motors at any time.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 88 17.2 Changing Resolution A reduced microstep resolution allows limitation of the step frequency for the STEP/DIR interface, or compatibility to an older, less performing driver. The internal microstep table with 1024 sine wave entries generates sinusoidal motor coil currents. These 1024 entries correspond to one electrical revolution or four fullsteps. The microstep resolution setting determines the step width taken within the table.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 89 17.3 microPlyer Step Interpolator and Stand Still Detection For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure 17.2. It interpolates the time in between of two step impulses at the step input based on the last step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256 microsteps (full step input to 256 microsteps) are driven for a single step pulse.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 90 18 DIAG Outputs 18.1 STEP/DIR Mode Operation with an external motion controller often requires quick reaction to certain states of the stepper motor driver. Therefore, the DIAG outputs supply a configurable set of different real time information complementing the STEP/DIR interface. Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output (low active open drain – default setting, or high active push-pull).
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 91 the end of the reset condition cannot be determined by monitoring DIAG0 in this configuration, because event_pos_reached flag also becomes active upon reset and thus the pin stays actively low after the reset condition. In order to safely determine a reset condition, monitor the reset flag by SPI or read out any register to confirm that the chip is powered up.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 92 19 dcStep dcStep is an automatic commutation mode for the stepper motor. It allows the stepper to run with its target velocity as commanded by the ramp generator as long as it can cope with the load. In case the motor becomes overloaded, it slows down to a velocity, where the motor can still drive the load. This way, the stepper motor never stalls and can drive heavy loads as fast as possible.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 93 19.3 dcStep Integration with the Motion Controller dcStep requires only a few settings. It directly feeds back motor motion to the ramp generator, so that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded with respect to the target velocity. dcStep operates the motor in fullstep mode at the ramp generator target velocity VACTUAL or at reduced velocity if the motor becomes overloaded.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Parameter vhighfs & vhighchm TOFF VDCMIN DC_TIME DC_SG Description These chopper configuration flags in CHOPCONF need to be set for dcStep operation. As soon as VDCMIN becomes exceeded, the chopper becomes switched to fullstepping. dcStep often benefits from an increased off time value in CHOPCONF. Settings >2 should be preferred. This is the lower threshold for dcStep operation when using internal ramp generator.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 95 19.6 dcStep with STEP/DIR Interface The TMC5130A provides two ways to use dcStep when interfaced to an external motion controller. The first way gives direct control of the dcStep step execution to the external motion controller, which must react to motor overload and is allowed to override a blocked motor situation. The second way assumes that the external motion controller cannot directly react to dcStep signals.
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TMC5130A DATASHEET (Rev. 1.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 97 Increasing mechanical load forces slower motion Theoretical sine wave corresponding to fullstep pattern +IMAX Phase Current (one phase shown) 0 -IMAX Long pulse = override motor block situation STEP STEP_FILT_INTERN ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 DCEN INTCOM DCO DC_OUT TIMEOUT (in controller) TIMOUT counter in controller ∆2 = MRES (number of microsteps per fullstep) Figure 19.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 98 20 Sine-Wave Look-up Table The TMC5130A driver provides a programmable look-up table for storing the microstep current wave. As a default, the table is pre-programmed with a sine wave, which is a good starting point for most stepper motors. Reprogramming the table to a motor specific wave allows drastically improved microstepping especially with low-cost motors. 20.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 99 When the microstep sequencer advances within the table, it calculates the actual current values for the motor coils with each microstep and stores them to the registers CUR_A and CUR_B. However the incremental coding requires an absolute initialization, especially when the microstep table becomes modified. Therefore CUR_A and CUR_B become initialized whenever MSCNT passes zero.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 100 22 ABN Incremental Encoder Interface The TMC5130A is equipped with an incremental encoder interface for ABN encoders. The encoder inputs are multiplexed with other signals in order to keep the pin count of the device low. The basic selection of the peripheral configuration is set by the register GCONF.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) - 101 Decimal mode encoder factor -25.6: 0xFFE6.4000 = 0xFFE6.0x0FAO. This equals (2^16(FACTOR+1)).(10000-DECIMALS) THE ENCODER COUNTER X_ENC The encoder counter X_ENC holds the current encoder position ready for read out. Different modes concerning handling of the signals A, B, and N take into account active low and active high signals found with different types of encoders. For more details please refer to the register mapping in section 6.4.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 102 22.3 Closing the Loop Depending on the application, an encoder can be used for different purposes. Medical applications often require an additional and independent monitoring to detect hard or soft failure. Upon failure, the machine can be stopped and restarted manually. Less critical applications may use the encoder to detect failure, stop the motors upon step loss and restart automatically.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 103 23 DC Motor or Solenoid The TMC5130A can drive one or two DC motors using one coil output per DC motor. Either a torque limited operation, or a voltage based velocity control with optional torque limit is possible. CONFIGURATION AND CONTROL Set the flag direct_mode in the GCONF register. In direct mode, the coil current polarity and coil current, respectively the PWM duty cycle become controlled by register XTARGET (0x2D). Bits 8..
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 104 24 Quick Configuration Guide This guide is meant as a practical tool to come to a first configuration and do a minimum set of measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may decide to explore additional features, e.g. freewheeling and further functionality in more detail.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 105 TUNING STEALTHCHOP AND SPREADCYCLE SC2 spreadCycle Configuration Try motion with desired acceleration and deceleration (not exceeding TPWMTRHRS) GCONF disable en_pwm_mode Coil current overshoot upon deceleration? Y PWMCONF increase PWM_GRAD (max.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 106 MOVING THE MOTOR USING THE MOTION CONTROLLER Move Motor Move to Target Configure Ramp Parameters RAMPMODE set velocity_positive RAMPMODE set position Start Velocity Set VSTART=0. Higher velcoity for abrupt start (limited by motor). Set AMAX=1000, set VMAX=100000 or different values Configure ramp parameters Stop Velocity Set VSTOP=10, but not below VSTART. Higher velocity for abrupt stop.
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TMC5130A DATASHEET (Rev. 1.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 108 SETTING UP DCSTEP Enable dcStep Configure dcStep Stall Detection CHOPCONF Make sure, that TOFF is not less than 3. Use lowest good TBL.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 109 25 Getting Started Please refer to the TMC5130A evaluation board to allow a quick start with the device, and in order to allow interactive tuning of the device setup in your application. Chapter 24 will guide you through the process of correctly setting up all registers. 25.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 110 26 Standalone Operation For standalone operation, no SPI interface is required to configure the TMC5130A. All pins with suffix CFG0 to CFG6 have a special meaning in this mode.
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TMC5130A DATASHEET (Rev. 1.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 112 CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN CFG6 GND VCC_IO open Motor driver enable Enable Disable Enable Standstill power down N - (Driver disable) Y, ramp down from 100% to 34% motor current in 44M clock cycles (3 to 4 seconds) if no step pulse for more than 1M clock cycles (standstill).
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 113 27 External Reset The chip is loaded with default values during power on via its internal power-on reset. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched off during operation of the chip.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 114 28.2 Using an External Clock When an external clock is available, a frequency of 10 MHz to 16 MHz is recommended for optimum performance. The duty cycle of the clock signal is uncritical, as long as minimum high or low input time for the pin is satisfied (refer to electrical characteristics). Up to 18 MHz can be used, when the clock duty cycle is 50%.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 115 29 Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design. Parameter Supply voltage operating with inductive load (VVS ≥ VVSA) Supply and bridge voltage max.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 116 30.2 DC and Timing Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typical values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. Power supply current DC-Characteristics VVS = VVSA = 24.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Linear regulator 117 DC-Characteristics VVS = VVSA = 24.0V Parameter Output voltage Symbol V5VOUT Conditions Min Typ Max Unit I5VOUT = 0mA 4.80 5.0 5.
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TMC5130A DATASHEET (Rev. 1.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 119 30.3 Thermal Characteristics The following table shall give an idea on the thermal resistance of the package. The thermal resistance for a four layer board will provide a good idea on a typical application. Actual thermal characteristics will depend on the PCB layout, PCB type and PCB size. The thermal resistance will benefit from thicker CU (inner) layers for spreading heat horizontally within the PCB. Also, air flow will reduce thermal resistance.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 120 31 Layout Considerations 31.1 Exposed Die Pad The TMC5130A uses its die attach pad to dissipate heat from the drivers and the linear regulator to the board. For best electrical and thermal performance, use a reasonable amount of solid, thermally conducting vias between the die attach pad and the ground plane. The printed circuit board should have a solid ground plane spreading heat into the board and providing for a stable GND reference. 31.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 121 31.4 Layout Example Schematic 1- Top Layer (assembly side) www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3- Inner Layer (supply VS) Components Figure 31.1 Layout example www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 32 Package Mechanical Data All length units are given in millimeters. 32.1 Dimensional Drawings TQFP48-EP Attention: Drawings not to scale. Figure 32.1 Dimensional drawings TQFP48-EP www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) Parameter total thickness stand off mold thickness lead width (plating) lead width lead frame thickness (plating) lead frame thickness body size X (over pins) body size Y (over pins) body size X body size Y lead pitch lead footprint exposed die pad size X exposed die pad size Y package edge tolerance lead edge tolerance coplanarity lead offset mold flatness 124 Ref A A1 A2 b b1 c Min 0.05 0.95 0.17 0.17 0.09 Nom 1 0.22 0.2 - Max 1.2 0.15 1.05 0.27 0.23 0.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 125 33 Design Philosophy We feel that this is one of the coolest chips which we did within the last years. The TMC50XX and TMC5130 family brings premium functionality, reliability and coherence previously reserved to costly motion control units to smart applications. Integration at street level cost was possible by squeezing know-how into a few mm² of layout using one of the most modern smart power processes.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 126 36 Table of Figures FIGURE 1.1 TMC5130A BASIC APPLICATION BLOCK DIAGRAM WITH MOTION CONTROLLER........................................................ 5 FIGURE 1.2 TMC5130A STEP/DIR APPLICATION DIAGRAM ...................................................................................................... 6 FIGURE 1.3 TMC5130A STANDALONE DRIVER APPLICATION DIAGRAM.......................................................................................
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 127 FIGURE 26.1 STANDALONE OPERATION WITH TMC5130A (PINS SHOWN WITH THEIR STANDALONE MODE NAMES) ............... 110 FIGURE 31.1 LAYOUT EXAMPLE ............................................................................................................................................... 122 FIGURE 32.1 DIMENSIONAL DRAWINGS TQFP48-EP ............................................................................................................. 123 www.trinamic.
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TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 128 37 Revision History Version Date Author Description BD= Bernhard Dwersteg SD= Sonja Dwersteg V0.25 V0.38 2014-JAN-31 2014-MAR-25 BD BD V0.42 2014-JUN-26 SD V0.44 2014-JUL-15 SD V0.46 V1.00 V1.01 V1.02 2014-SEP-11 2014-OCT-13 2014-NOV-03 2014-DEC-01 SD SD BD BD V1.03 2014-DEC-05 BD V1.04 2014-DEC-11 BD V1.05 2015-JAN-19 BD V1.06 V1.08 V1.09 2015-FEB-12 2015-FEB-24 2015-MAR-10 BD BD BD V1.10 V1.